A driver assistance system for an ego vehicle, and a method for a driver assistance system is provided. The system is configured to refine a coarse geolocation method based on the detection of the static features located in the vicinity of the ego vehicle. The system performs at least one measurement of the visual appearance of each of at least one static feature located in the vicinity of the ego vehicle. Using the at least one measurement, a position of the ego vehicle relative to the static feature is calculated. The real world position of the static feature is identified. The position of the ego vehicle relative to the static feature is calculated, which is, in turn, used to calculate a static feature measurement of the vehicle location. The coarse geolocation measurement and the the static feature measurement are combined to form a fine geolocation position. By combining the measurements, a more accurate location of the ego vehicle can be determined.
Legal claims defining the scope of protection, as filed with the USPTO.
2. The driver assistance system according to claim 1, further comprising, wherein the system is further configured to use the at least one measurement of each of two or more static features in the calculation of the static feature measurement of the location of the ego vehicle.
3. The driver assistance system according to claim 1, further comprising, wherein the at least one static feature is a transition between a dashed line marking region and solid line marking region of a road on which the ego vehicle travels.
4. The driver assistance system according to claim 1, further comprising, wherein the system is further configured to using the fine geolocation position, calculate a traffic lane along which the ego vehicle is most likely to be travelling.
5. The driver assistance system according to claim 1, further comprising, wherein the system is further configured to determine a sub-region of the map in which to identify the real-world location of the at least one static feature.
6. The driver assistance system according to claim 5, further comprising, wherein the sub-region is based on the uncertainty margin of the course geolocation measurement.
7. The driver assistance system according to claim 5, further comprising, wherein the system is further configured to determine whether or not the at least one static feature is identified uniquely within the sub-region of the map.
8. The driver assistance system according to claim 7, further comprising, wherein if the at least one static feature is not identified uniquely, the system is configured to wait to receive the at least one measurement of the visual appearance of at least one further static feature located in the vicinity of the ego vehicle.
9. The driver assistance system according to claim 1, further comprising, wherein the coarse geolocation measurement includes at least one of an ego vehicle latitude, an ego vehicle longitude, and an ego vehicle heading.
10. The driver assistance system according to claim 1, further comprising, wherein the driver assistance system is an autonomous driving system.
12. The method of claim 11 further comprising the steps of, using the at least one measurement of each of two or more static features in the calculation of the static feature measurement of the location of the ego vehicle.
13. The method of claim 11 further comprising the steps of, using the fine geolocation position, calculate a traffic lane along which the ego vehicle is most likely to be travelling.
14. The method of claim 11 further comprising the steps of, wherein the coarse geolocation measurement includes an ego vehicle latitude, an ego vehicle longitude, and an ego vehicle heading.
15. The method of claim 11 further comprising the steps of, wherein the driver assistance system is an autonomous driving system.
Cooperative Patent Classification codes for this invention. Click any code to explore related patents in that topic.
July 4, 2018
January 10, 2023
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